We evaluate the proposed OFF-Net method on our ORFD dataset with two classes (,
traversable area and non-traversable area, the unreachable area is regarded as non-traversable area for simplicity) and compare it with FuseNet [1]} and SNE-RoadSeg [2]}. FuseNet extracts features from RGB image and depth image and then fuses depth features into RGB feature maps with VGG16 [3]} network architecture, and SNE-RoadSeg extracts and fuses features from RGB image and surface normal information with ResNet-152 [4]} network architecture.
